Pose Estimation from Minimal Dual-Receiver Configurations
Författare
Summary, in English
a rigid configuration, such as on a smartphone, it is
possible to measure time difference of arrival to the receivers.
This in turn can be used to determine the direction
to the transmissions, if there are at least three
receivers. When using two receivers it can be used
to determine the angle to the transmissions relative to
the line through the two receivers. In this paper we
study three minimal problems for pose using such data:
(i) determine position and orientation using five transmissions,
(ii) determine position and orientation using
four transmissions and known ’down’ direction and
(iii) determine position using three transmissions and
known orientation. Numerically stable solvers are implemented.
An experimental validation of the solvers
are performed on simulated data
Avdelning/ar
- Matematik LTH
- Matematikcentrum
- Mathematical Imaging Group
- ELLIIT: the Linköping-Lund initiative on IT and mobile communication
Publiceringsår
2012
Språk
Engelska
Sidor
2553-2556
Publikation/Tidskrift/Serie
21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Mathematics
Nyckelord
- Pose estimation
- Time-Difference-Of-Arrival
- minimal problems
Conference name
21st International Conference on Pattern Recognition (ICPR 2012)
Conference date
2012-11-11 - 2012-11-15
Conference place
Tsukuba, Japan
Status
Published
Forskningsgrupp
- Mathematical Imaging Group
ISBN/ISSN/Övrigt
- ISBN: 978-4-9906441-1-6